A torque vectoring optimal control strategy for combined vehicle dynamics performance enhancement and electric motor ageing minimisation*

Abstract

In this paper we propose a control architecture that combines velocity, sideslip angle and yaw rate regulation with motor temperature regulation on a electric vehicle with four independent electric motors. The linear controller incorporates both the vehicle dynamics and the electric motor dynamics by combining a four-wheel vehicle model with a motor degradation model. It is found that the resulting controller not only enhances the vehicle stability of the vehicle, but also extends the lifetime of motors by regulating their temperatures.